#!/usr/bin/env bash
set -euo pipefail

script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
package_root="$(cd "$script_dir/.." && pwd)"
cd "$package_root"

export LD_LIBRARY_PATH="$package_root/lib:${LD_LIBRARY_PATH:-}"

echo "=== RK3588 selected4 mainline package validation ==="
echo "arch=$(uname -m)"
if [[ "$(uname -m)" != "aarch64" ]]; then
  echo "warning: this delivery binary targets aarch64" >&2
fi

echo "=== manifest ==="
sha256sum -c MANIFEST_SHA256.txt

echo "=== dynamic dependencies ==="
ldd lib/libstereo_bolt.so | tee /tmp/selected4_delivery_ldd.txt
if grep -q "not found" /tmp/selected4_delivery_ldd.txt; then
  echo "missing dynamic dependency" >&2
  exit 31
fi

echo "=== canonical selected4 config path ==="
for frame in 19 20 28 43; do
  echo "--- CONFIG FRAME $frame ---"
  set +e
  config_output="$(validation/c_example_centerline \
    config/config.rk3588.mainline.yaml \
    "validation/inputs/left_${frame}.bmp" \
    "validation/inputs/right_${frame}.bmp" 8 2>&1)"
  config_rc=$?
  set -e
  printf '%s\n' "$config_output"
  if [[ $config_rc -ne 0 ]] || ! grep -q '^success=1 bolts=8 ' <<< "$config_output"; then
    echo "config-path acceptance failed for frame $frame" >&2
    exit 41
  fi
done

echo "=== explicit model/calibration C ABI path ==="
for frame in 19 20 28 43; do
  echo "--- FRAME $frame ---"
  validation/selected4_delivery_validate \
    calib/stereo_calib_20260621_202857_ascii.xml \
    weights/model_20260713T084621+0000_c732327c.rknn \
    "validation/inputs/left_${frame}.bmp" \
    "validation/inputs/right_${frame}.bmp" \
    "$frame" 8
done

echo "=== PACKAGE_REVERIFY_PASS ==="